CN115352428A - Information interaction control system and method based on automatic driving modified vehicle - Google Patents
Information interaction control system and method based on automatic driving modified vehicle Download PDFInfo
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses an information interaction control system and method based on an automatic driving modified vehicle, which receives an Ethernet instruction signal of an automatic driving system, carries out data analysis, operation processing and recoding on the Ethernet signal, converts the Ethernet signal into a CAN format signal, and then sends the CAN format signal to a vehicle chassis execution unit; and the vehicle chassis execution unit sends a chassis state signal to the information interaction control system in real time through a whole vehicle CAN wire harness, and after receiving the CAN signal, the information interaction control system analyzes, calculates and recodes the CAN data, converts the CAN data into an Ethernet signal, and sends the Ethernet signal to the automatic driving system through the Ethernet, so that the information interaction and logic control of the automatic driving system and the non-automatic driving vehicle chassis are realized. The system can also detect a driving mode switch signal and an emergency stop switch signal to realize vehicle mode switching and safety control.
Description
Technical Field
The invention belongs to the technical field of automatic driving of automobiles, and particularly relates to an information interaction control system and method based on an automatic driving modified vehicle.
Background
Automatic driving is the hot direction of the current automobiles, and various automobile manufacturers and automobile part manufacturers develop automatic driving vehicles in a break. The automatic driving system of the passenger car is configured when the automatic driving vehicle leaves a factory. The automatic driving system can directly perform information interaction with other systems (such as a power system, a transmission system, a braking system, a steering system and the like) of a chassis of the vehicle, and sends a control command to the systems of the chassis to control the automatic driving of the vehicle. Automatic driving can promote road traffic intelligent level and traffic operating efficiency by a wide margin, along with the continuous progress and the development of society, automatic driving car demonstrates the trend that is close to the practicality gradually.
However, in the current society, the purchase and use of manually driven vehicles are still the main reasons, and if the manually driven vehicles and the automatically driven vehicles are simultaneously on the road and enter an automatic driving area, the traffic operation efficiency is influenced; and the communication protocol of the existing passenger vehicle automatic driving system and the vehicle chassis is customized and developed, and the communication protocol is strongly correlated with each other, so that the existing automatic driving system cannot be directly refitted to a non-automatic driving vehicle.
Therefore, the method has great advantages for the existing automobile which is manually driven and is converted into the automobile in the automatic driving mode. How to rapidly modify a manned vehicle into an automatic driving vehicle firstly solves the problem of information interaction between an automatic driving system and a manned vehicle chassis.
Disclosure of Invention
Aiming at the requirement that the information interaction between an automatic driving system and a manned automobile chassis needs to be solved by refitting the vehicle in the prior art, the invention provides an information interaction control system based on an automatic driving refitted vehicle so as to solve the problems.
In order to achieve the above object, the present invention provides an information interaction control system based on an automatic driving modified vehicle, comprising: a UDP transceiver communicatively coupled to the autopilot system; the CAN transceiver is in communication connection with the vehicle chassis execution unit; the microcontroller comprises a UDP-CAN signal conversion module, a CAN-UDP signal conversion module, a manned/unmanned mode switching module, an emergency stop module, a remote ignition module and a remote flameout module; the UDP transceiver converts photoelectric signals sent by the automatic driving system into data in an RMII format, carries out data analysis and recoding through a UDP-CAN signal conversion module, converts the data into CAN format data, sends the CAN format data to the CAN transmitter and further sends the CAN format data to the vehicle chassis execution unit for action control; the vehicle chassis execution unit sends a chassis state signal to the information interaction control system in real time in a differential level signal mode through a whole vehicle CAN wire harness, the CAN transceiver receives the differential level signal and converts the differential signal into CAN format data, the CAN format data is converted into RMII format data through data analysis and recoding of a CAN to UDP signal module, and then the UDP transceiver converts the RMII format data into photoelectric signals and sends the photoelectric signals to the automatic driving system through an Ethernet cable; the information interaction control system receives the control instruction, the corresponding function module analyzes and judges feedback information of the corresponding execution unit on the vehicle chassis, and the corresponding function module controls the vehicle chassis execution unit to complete instruction action, so that the interaction information quantity between the vehicle chassis and the automatic driving system is reduced.
Furthermore, the information interaction control system also comprises a switching value input signal detection module which is in communication connection with the manned/unmanned mode switch through an interface I1, converts a received high level signal into a low level signal and then sends the low level signal to the manned/unmanned mode switch module, the manned/unmanned mode switch module sends an unmanned mode instruction to the chassis execution unit, and after receiving feedback information in an unmanned intervention operation state, the instruction sent by the automatic driving system CAN be converted into CAN format data through the information interaction control system and received by the chassis execution unit.
Further, the switching value input signal detection module is in communication connection with an emergency stop switch through an interface I2, received high-level signals are converted into low-level signals and then sent to the emergency stop module, the emergency stop module sends down-shifting and speed-reducing instructions to a chassis execution unit according to feedback information of the chassis execution unit after receiving the signals sent when the emergency stop switch is closed until the emergency stop module detects that the actual vehicle speed is 0, then parking instructions are sent to a vehicle chassis parking brake controller, and after instruction actions are completed, the chassis execution unit feeds back information that the emergency stop instructions are completed to an automatic driving system for information interaction.
Furthermore, the information interaction control system also comprises a switching value output signal module which is in communication connection with the starter ignition relay through an interface Q1, converts a low level signal output by the microcontroller into a high level signal, and transmits the high level signal to the starter relay through a wire harness to drive ignition.
Further, the remote ignition module receives an ignition instruction sent by the automatic driving system, detects the current working state of the engine, controls the switching value output signal module to drive the starter relay to perform point counting, judges that the rotating speed of the engine reaches a specified threshold value according to feedback information of the bottom plate execution unit, and feeds back information that the ignition instruction is completed to the automatic driving system by the chassis execution unit to perform information interaction after the ignition instruction action is completed.
Further, the remote flameout module receives a flameout instruction sent by the automatic driving system, detects the current state of the engine, controls the vehicle chassis execution unit to downshift and stop, outputs the flameout instruction of the engine to the engine controller, stops outputting the flameout instruction of the engine when detecting that the rotating speed of the engine is 0, completes the action of the flameout instruction, and feeds back the information that the flameout instruction is completed to the automatic driving system by the vehicle chassis execution unit for information interaction.
Preferably, the UDP transceiver is in communication connection with the microcontroller, and is connected to an external ethernet through an RJ45 interface, using an ethernet interface chip with a bandwidth of 100Mbps, and configured to convert an optical-electrical signal on a network cable into a data link layer signal, so as to implement data conversion between the external optical-electrical signal and the microcontroller.
Preferably, the CAN transceiver adopts an MC33901 chip and a baud rate of 250Kbs, and is connected with a vehicle chassis execution unit through a whole vehicle CAN wire harness to realize the conversion between an electrical signal on an external CAN wire harness and data of the microcontroller.
According to another aspect of the invention, an information interaction control method based on an automatic driving modified vehicle is also provided, and comprises the following steps: s100: the information interaction control system receives a corresponding control instruction;
s200: the information interaction control system converts the instruction into CAN format data and sends the CAN format data to a corresponding execution unit on the chassis in a differential signal mode;
s300: after the corresponding execution unit on the chassis feeds back the current state information parameters to the information interaction control system, the information interaction control system converts the differential signals into CAN format data for analysis and judgment;
s400, the information interaction control system sends a control instruction to the current state information parameter according to the execution unit, and controls the corresponding execution unit on the chassis to finish the action of sending the instruction by the automatic driving system;
s500, after the corresponding execution unit on the chassis finishes the instruction action, the finishing information is uploaded to an information interaction control system in the form of differential signals, and the information interaction control system converts the differential signals into photoelectric signals after multiple times of protocol conversion and sends the photoelectric signals to an automatic driving system through Ethernet;
s600: and the automatic driving system receives the feedback information to complete information interaction with the chassis.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. according to the information interaction control system based on the automatic driving modified vehicle, the microcontroller, the UDP transceiver and the CAN transceiver are arranged, so that multiple times of communication protocol conversion is realized, the automatic driving system and the non-automatic driving vehicle chassis CAN carry out information interaction, the mature automatic driving system CAN be modified and applied to the non-automatic driving vehicle, the modification is fast and flexible, and the modification period and the modification cost are reduced.
2. According to the information interaction control system based on the modified automatic driving vehicle, feedback information of the corresponding execution unit on the chassis is analyzed and judged through the corresponding function module arranged in the information interaction control system, and the corresponding execution unit is controlled to complete the command action sent by the automatic driving system, so that the interactive information quantity between the vehicle chassis and the automatic driving system is reduced, the situations of data loss, errors and the like in the conversion process are avoided, and the information interaction between the vehicle chassis and the automatic driving system is more efficient and concise.
3. According to the information interaction control system based on the automatic driving modified vehicle, the emergency stop module is matched with the emergency stop switch box, so that the modified vehicle has an emergency stop function and can be used as a last layer of safety protection mechanism for automatic driving.
4. According to the information interaction control system based on the automatic driving modified vehicle, the remote ignition module and the remote flameout module are added, the functions of remote ignition, flameout and the like of the vehicle can be realized by matching with the automatic driving system, and the functions of modifying the vehicle are expanded.
Drawings
FIG. 1 is an electrical topology diagram of an information interaction module based on an automated driving modified vehicle according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of information interaction between a vehicle chassis and an autopilot system in an embodiment of the invention;
fig. 3 is a schematic flow chart of an information interaction control method based on an automatic driving modified vehicle in an embodiment of the invention;
FIG. 4 is a flowchart illustrating the operation of the switching module of the manned/unmanned mode of the information interaction control system in the embodiment of the present invention;
FIG. 5 is a flowchart illustrating the operation of the emergency stop module of the information interaction control system according to an embodiment of the present invention;
FIG. 6 is a flow chart of the operation of the remote ignition module of the interactive information control system in an embodiment of the present invention;
FIG. 7 is a flowchart illustrating operation of the remote flameout module of the interactive messaging control system in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the respective embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1-6, the invention discloses an information interaction control system based on an automatic driving modified vehicle, the automatic driving system sends an instruction signal to the information interaction control system in the form of a photoelectric signal through an ethernet cable, the information interaction control system converts the instruction signal into data in the form of RMII format, performs data analysis and recoding on the data in the form of RMII format, converts the data in the form of RMII format into data in the form of CAN format, performs level conversion on the data in the form of CAN format, converts the data into a differential signal, and sends the differential signal to a finished vehicle CAN wire harness, and a vehicle chassis execution unit acquires data from the finished vehicle CAN wire harness to perform control action on the instruction sent by the automatic driving system; the vehicle chassis execution unit sends a chassis state signal to the information interaction control system in real time in the form of a differential level signal through a whole vehicle CAN wire harness, the information interaction control system receives the differential level signal, converts the differential signal into CAN format data, converts the CAN format data into RMII format data through data analysis and recoding, then converts the RMII format data into a photoelectric signal, and sends the photoelectric signal to the automatic driving system through an Ethernet cable; the information interaction between the automatic driving system and the non-automatic driving vehicle chassis can be realized through the information interaction control system, the flexibility of modification is increased, and the period and the cost of modification are reduced.
As shown in fig. 1, the information interaction control system includes a microcontroller, a UDP transceiver, a CAN transceiver, a switching value signal input detection module, and a switching value signal output module.
The UDP transceiver is in communication connection with the microcontroller, adopts an Ethernet interface chip, has a bandwidth of 100Mbps, is connected with an external Ethernet through an RJ45 interface, and is used for converting an optical-electrical signal on a network cable into a data link layer signal so as to realize data conversion between the external optical-electrical signal and the microcontroller.
The CAN transceiver adopts an MC33901 chip, the baud rate is 250Kbs, and the electric signals on the external CAN wire harness and the data conversion of the microcontroller are realized by directly connecting the whole CAN wire harness with a vehicle chassis execution unit (comprising a gearbox controller, an engine controller, an accelerator controller, a steering controller, a driving brake controller and a parking brake controller).
The switching value input signal detection module is respectively in communication connection with the manned/unmanned mode change-over switch and the emergency stop switch through interfaces I1 and I2, a voltage division circuit is arranged in the switching value input signal detection module, a switch signal is filtered through a capacitor and then subjected to voltage division through two resistors, and the manned/unmanned mode change-over switch signal and the emergency stop switch signal are converted into a 3.3V level signal from a 24V level so as to be received by the manned/unmanned mode change-over module and the emergency stop module in the microcontroller.
And the switching value output signal module is in communication connection with the starter ignition relay through an interface Q1, so that the starter ignition relay is driven by an output signal. The switching value output signal module consists of a triode and a resistor, converts a 3.3V level signal output by the microcontroller into a 24V level signal, and transmits the 24V level signal to the starter relay through a wiring harness to ignite.
The microcontroller adopts a vehicle-specification-level high-performance multi-core MCU (microprogrammed control Unit), comprises a UDP (user Datagram protocol) to CAN (controller area network) signal module, a CAN to UDP (user Datagram protocol) signal module, a manned/unmanned mode switching module, an emergency stop module, a remote ignition module and a remote flameout module, and CAN realize the functions of a TCP/IP (transmission control protocol/Internet protocol) protocol stack, a CAN controller, switching value signal input, switching value signal output, logic processing, timing interruption, a software watchdog and the like.
The signal conversion function of the UDP-CAN signal conversion module is realized in a microprocessor, RMII format data sent by the UDP transceiver is received in a function call-back mode, the RMII format data are converted into CAN format data through the steps of data analysis, variable assignment, data encapsulation and the like, the CAN format data are sent to the CAN transmitter through a CAN controller in the microcontroller, and then the CAN transmitter is sent to a vehicle chassis execution unit for action control.
The signal conversion function of the CAN-to-UDP signal module is realized on the microcontroller, CAN data sent by the CAN transceiver is received in a timing interruption mode, converted into UDP format signals through the steps of data analysis, variable assignment, data encapsulation and the like, and then sent to the UDP transceiver through a TCP/IP protocol stack in the microcontroller and further sent to the automatic driving system.
And the manned/unmanned mode switching module simultaneously receives an unmanned enabling signal of the automatic driving system and detects an opening and closing signal of the manned/unmanned mode switching switch, and sends an unmanned or manned control mode instruction to the vehicle chassis to realize the switching of the manned/unmanned operation modes of the vehicle.
The remote ignition module receives an ignition instruction of the automatic driving system, sends a 3.3V level signal, converts the signal into a 24V level signal through the switching value output signal module to drive the starter relay to work, and controls the ignition of the engine.
And after receiving the flameout instruction of the automatic driving system, the remote flameout module outputs an engine flameout instruction to the vehicle chassis engine controller to control the engine to flameout.
As shown in fig. 2, the non-autonomous driving vehicle chassis performs information interaction with the autonomous driving system through an information interaction control system, the information interaction control system realizes conversion among a plurality of communication protocols through a function module, so that the autonomous driving system can send an instruction to the vehicle chassis to control operation of each functional component of the chassis, and the vehicle chassis feeds back status information data of each functional component to the autonomous driving system for analysis.
The data flow sent by the automatic driving system to the vehicle chassis is as follows: the automatic driving system sends a signal (1) to the information interaction controller in a photoelectric signal mode through an Ethernet cable, the bandwidth is 100Mbps, the signal sending period is 100ms, and the port number is 1024, and the signal comprises information such as an accelerator control instruction, a gear control instruction, a driving brake control instruction, a parking brake control instruction, a gearbox gear control instruction, a steering wheel steering control instruction, an unmanned mode enabling instruction, an ignition instruction and a flameout instruction. And after receiving the signal (1), the UDP transceiver in the information interaction controller converts the signal (1) into data (2) in an RMII format and then sends the data to a UDP-CAN conversion module in the information interaction controller. And after the UDP-CAN module receives the data (2), the data is analyzed and recoded, converted into data (3) in a CAN format and then sent to a CAN transceiver in the information interaction controller. And the CAN transceiver converts the level of the data (3) into a differential signal (4) and sends the differential signal to the whole vehicle CAN wire harness, and each controller of the vehicle chassis acquires the data (4) from the whole vehicle CAN wire harness.
The data feedback flow from the vehicle chassis to the automatic driving system is as follows: and each controller of the vehicle chassis sends a signal (5) to the information interaction controller in a differential level signal mode through a whole vehicle CAN wire harness, the baud rate is 250kbs, the J1939 protocol is followed, and the signal content comprises information such as actual vehicle speed, engine rotating speed, accelerator opening, gear of a gearbox, service braking deceleration, hand brake state, steering wheel steering angle and the like. And after receiving the differential level signal (5), a CAN transceiver in the information interaction controller converts the differential signal into CAN format data (6) and then sends the CAN format data to a CAN UDP conversion module in the microcontroller. After receiving the data (6), the CAN-UDP conversion module analyzes and recodes the data, converts the data into data (7) in an RMII format and then sends the data to the UDP transceiver. And the UDP transceiver converts the data (7) into a photoelectric signal (8) and sends the photoelectric signal to the automatic driving system through an Ethernet cable.
Because the communication protocol conversion is needed for a plurality of times when the information interaction is carried out between the vehicle chassis and the automatic driving system, in order to avoid the communication delay, the invention also provides an information interaction control method based on the automatic driving modified vehicle, the information interaction control system analyzes and judges the feedback information of the corresponding execution unit on the chassis, and controls the corresponding execution unit to complete the command action sent by the automatic driving system, thereby reducing the interactive information quantity between the vehicle chassis and the automatic driving system, avoiding the situations of missing, error and the like of data in the conversion process, and leading the information interaction between the vehicle chassis and the automatic driving system to be more efficient and simpler; as shown in fig. 3, the information interaction control method includes the following steps:
s100: the information interaction control system receives a corresponding control instruction;
s200: the information interaction control system converts the instruction into CAN format data and sends the CAN format data to corresponding execution units on the chassis in a differential signal mode;
s300: after the corresponding execution unit on the chassis feeds back the current state information parameters to the information interaction control system, the information interaction control system converts the differential signals into CAN format data for analysis and judgment;
s400, the information interaction control system sends a control instruction to the current state information parameter according to the execution unit, and controls the corresponding execution unit on the chassis to finish the action of sending the instruction by the automatic driving system;
s500, after the corresponding execution unit on the chassis finishes the instruction action, the finishing information is uploaded to an information interaction control system in the form of differential signals, and the information interaction control system converts the differential signals into photoelectric signals after multiple times of protocol conversion and sends the photoelectric signals to an automatic driving system through Ethernet;
s600: and the automatic driving system receives the feedback information to complete information interaction with the chassis.
As shown in fig. 4, when the manned/unmanned mode switching module in the information interaction control system receives the unmanned enabling instruction signal of the automatic driving system and the on/off switching signal of the manned/unmanned mode switching switch at the same time, the manned/unmanned mode switching module sends an unmanned mode instruction to the chassis execution unit, the chassis execution unit feeds back whether the manned/unmanned mode switching module is in a man-made intervention operation state, and when the unmanned mode switching module is in the unmanned intervention operation state, the instruction sent by the automatic driving system CAN be converted into CAN-format data through the information interaction control system and received by the chassis execution unit, so as to execute a corresponding instruction action.
As shown in fig. 5, after the emergency stop module receives a signal sent when the emergency stop switch is closed, a downshift deceleration instruction is sent to the chassis execution unit according to the feedback information of the chassis execution unit until the emergency stop module detects that the actual vehicle speed is 0, and then a parking instruction is sent to the vehicle chassis parking brake controller, and after the instruction action is completed, the chassis execution unit feeds back the information that the emergency stop instruction is completed to the automatic driving system for information interaction.
As shown in fig. 6, after receiving an ignition instruction sent by an automatic driving system, the remote ignition module detects whether the current engine is in a flameout state, and outputs a starter relay driving signal if the current engine is in the flameout state, and if the engine speed reaches more than 500 rpm and lasts more than 1 second within 6 seconds, the remote ignition module determines that ignition is successful and stops outputting the starter relay driving signal; otherwise, ignition failure is judged, an ignition instruction is carried out after 10 seconds, and after the ignition instruction action is completed, the chassis execution unit feeds back information that the ignition instruction is completed to the automatic driving system for information interaction.
As shown in fig. 7, after receiving a flameout command sent by the automatic driving system, the remote flameout module detects whether the current engine is in an ignition state, if the current engine is in the ignition state, controls the vehicle chassis execution unit to downshift and stop, outputs the engine flameout command to the engine controller, stops outputting the engine flameout command when the engine rotation speed is detected to be 0, and after completing the action of the flameout command, the chassis execution unit feeds information that the flameout command is completed back to the automatic driving system for information interaction.
The information interaction control system based on the automatic driving modified vehicle has the advantages of simple integral system structure and low cost, can realize communication connection with the automatic driving system and the vehicle chassis execution unit respectively only through the external interface, is fast and flexible to modify, and reduces the modification period.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (9)
1. An information interaction control system based on an automatic driving modified vehicle is characterized by comprising:
a UDP transceiver communicatively coupled to the autopilot system;
the CAN transceiver is in communication connection with the vehicle chassis execution unit;
the microcontroller comprises a UDP-CAN signal conversion module, a CAN-UDP signal conversion module, a manned/unmanned mode switching module, an emergency stop module, a remote ignition module and a remote flameout module;
the UDP transceiver converts photoelectric signals sent by the automatic driving system into data in an RMII format, carries out data analysis and recoding through a UDP-CAN signal conversion module, converts the data into CAN format data, sends the CAN format data to the CAN transmitter and further sends the CAN format data to the vehicle chassis execution unit for action control; the vehicle chassis execution unit sends a chassis state signal to the information interaction control system in real time in a differential level signal mode through a whole vehicle CAN wire harness, the CAN transceiver receives the differential level signal and converts the differential signal into CAN format data, the CAN format data is converted into RMII format data through data analysis and recoding of a CAN to UDP signal module, and then the UDP transceiver converts the RMII format data into photoelectric signals and sends the photoelectric signals to the automatic driving system through an Ethernet cable;
the information interaction control system receives the control instruction, the corresponding function module analyzes and judges feedback information of the corresponding execution unit on the vehicle chassis, and the corresponding function module controls the vehicle chassis execution unit to complete instruction action, so that the interaction information quantity between the vehicle chassis and the automatic driving system is reduced.
2. The information interaction control system based on the automatic driving modified vehicle as claimed in claim 1, further comprising a switching value input signal detection module, which is in communication connection with the manned/unmanned mode switch through an interface I1, converts a received high level signal into a low level signal and sends the low level signal to the manned/unmanned mode switch module, the manned/unmanned mode switch module sends an unmanned mode command to the chassis execution unit, and receives feedback information in an unmanned intervention operation state, and then the command sent by the automatic driving system CAN be converted into CAN format data through the information interaction control system and received by the chassis execution unit.
3. The information interaction control system based on the modified automatic driving vehicle as claimed in claim 2, wherein the switching value input signal detection module is in communication connection with an emergency stop switch through an interface I2, converts a received high level signal into a low level signal and sends the low level signal to the emergency stop module, the emergency stop module sends a downshift deceleration instruction to the chassis execution unit according to the feedback information of the chassis execution unit after receiving the signal sent when the emergency stop switch is closed, and sends a parking instruction to the vehicle chassis parking brake controller after the emergency stop module detects that the actual vehicle speed is 0, and after the instruction action is completed, the chassis execution unit feeds back the information that the emergency stop instruction is completed to the automatic driving system for information interaction.
4. The information interaction control system based on the modified automatic driving vehicle as claimed in claim 1, further comprising a switching value output signal module, which is in communication connection with the starter ignition relay through an interface Q1, and converts a low level signal output by the microcontroller into a high level signal, and transmits the high level signal to the starter relay through a wiring harness to drive ignition.
5. The information interaction control system based on the modified automatic driving vehicle as claimed in claim 4, wherein the remote ignition module receives an ignition instruction sent by the automatic driving system, detects the current working state of the engine, controls the switching value output signal module to drive the starter relay to perform point counting, judges that the rotating speed of the engine reaches a specified threshold value according to feedback information of the bottom plate execution unit, and after the action of the ignition instruction is completed, the chassis execution unit feeds back information that the ignition instruction is completed to the automatic driving system for information interaction.
6. The information interaction control system based on the modified automatic driving vehicle as claimed in claim 1, wherein the remote flameout module receives a flameout command sent by the automatic driving system, detects the current state of the engine, controls the vehicle chassis execution unit to downshift and stop, outputs the flameout command to the engine controller, stops outputting the flameout command when the rotation speed of the engine is 0, completes the action of the flameout command, and feeds the flameout command completion information back to the automatic driving system for information interaction by the vehicle chassis execution unit.
7. The information interaction control system based on the modified automatic driving vehicle as claimed in any one of claims 1-6, wherein the UDP transceiver is communicatively connected to the microcontroller, and an ethernet interface chip with a bandwidth of 100Mbps is used to convert the optical-electrical signals on the network cable into data link layer signals through an RJ45 interface, so as to convert the external optical-electrical signals into data of the microcontroller.
8. The information interaction control system based on the modified automatic driving vehicle as claimed in any one of claims 1-6, wherein the CAN transceiver adopts MC33901 chip, baud rate 250Kbs, and is connected with vehicle chassis execution unit through whole vehicle CAN wire harness, so as to realize the data conversion of the microcontroller and the electric signal on the external CAN wire harness.
9. An information interaction control method based on an automatic driving modified vehicle is characterized by comprising the following steps:
s100: the information interaction control system receives a corresponding control instruction;
s200: the information interaction control system converts the instruction into CAN format data and sends the CAN format data to corresponding execution units on the chassis in a differential signal mode;
s300: after the corresponding execution unit on the chassis feeds back the current state information parameters to the information interaction control system, the information interaction control system converts the differential signals into CAN format data for analysis and judgment;
s400, the information interaction control system sends out a control instruction according to the current state information parameter by the execution unit, and controls the corresponding execution unit on the chassis to finish the action of sending out the instruction by the automatic driving system;
s500, after finishing the command action, the corresponding execution unit on the chassis uploads the finished information to an information interaction control system in the form of differential signals, and the information interaction control system converts the differential signals into photoelectric signals after multiple times of protocol conversion and sends the photoelectric signals to an automatic driving system through the Ethernet;
s600: and the automatic driving system receives the feedback information to complete information interaction with the chassis.
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